Extended kinematics for control of quadruped robot

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F07%3APU86401" target="_blank" >RIV/00216305:26210/07:PU86401 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Extended kinematics for control of quadruped robot

Original language description

This paper deals with the extended kinematical model for quadruped mo-bile walking robot. The model has been built based on homogenous coor-dinates approach. The robot is comprehended as an open tree manipulator and therefore standard algorithms for forward and inverse kinematics can be employed. However, the inverse model named 12-18 works with the redundant manipulator structure and pseudoiverse of Jacobian matrix should be used. The inverse model 3-3 uses regular manipulator and al-lows separate positioning of each leg. After processing and simplification of the equations in Maple, the algorithms have been implemented in Mat-lab environment. The model automatically built in SimMechanics has been used for verification. Finally, the results have beentested using VRML visualization.

Czech name

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Czech description

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Type

D - Article in proceedings

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

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Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2007

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

Recent Advances in Mechatronics

ISBN

978-3-540-73955-5

ISSN

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e-ISSN

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Number of pages

5

Pages from-to

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Publisher name

Springer

Place of publication

Berlin

Event location

Warsaw

Event date

Sep 19, 2007

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000251017700026